WO2019138212A3 - Method and system for agriculture - Google Patents

Method and system for agriculture Download PDF

Info

Publication number
WO2019138212A3
WO2019138212A3 PCT/GB2019/050020 GB2019050020W WO2019138212A3 WO 2019138212 A3 WO2019138212 A3 WO 2019138212A3 GB 2019050020 W GB2019050020 W GB 2019050020W WO 2019138212 A3 WO2019138212 A3 WO 2019138212A3
Authority
WO
WIPO (PCT)
Prior art keywords
crops
target area
routes
locations
operating
Prior art date
Application number
PCT/GB2019/050020
Other languages
French (fr)
Other versions
WO2019138212A2 (en
Inventor
James Kent
Arthur Jack RUSSELL
Fred ISAAC
Original Assignee
Xihelm Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Xihelm Limited filed Critical Xihelm Limited
Priority to US16/960,902 priority Critical patent/US20200333782A1/en
Priority to JP2020538964A priority patent/JP2021510305A/en
Priority to KR1020207022577A priority patent/KR20200103823A/en
Priority to EP19700544.0A priority patent/EP3737913A2/en
Priority to CA3125709A priority patent/CA3125709A1/en
Publication of WO2019138212A2 publication Critical patent/WO2019138212A2/en
Publication of WO2019138212A3 publication Critical patent/WO2019138212A3/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D90/00—Vehicles for carrying harvested crops with means for selfloading or unloading
    • A01D90/16—Vehicles for carrying harvested crops with means for selfloading or unloading self-propelled
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D93/00—Harvesting apparatus not provided for in other groups of this subclass
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
    • A01G9/14—Greenhouses
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/87—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for exploration, e.g. mapping of an area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/21—Farming, e.g. fields, pastures or barns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Guiding Agricultural Machines (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Greenhouses (AREA)
  • Image Processing (AREA)

Abstract

A method (2000) of operating on crops (14) in a target area (20), comprising: using one or more sensors (1306), capturing (2200) data related to crops in a target area; mapping (2400) locations of the crops in the target area using the captured sensor data; generating (2600) one or more routes between at least some of the crops in the target area based on the mapped locations; and routing (2800) one or more operating units (1200) along the one or more routes thereby to operate on at least one of the crops.
PCT/GB2019/050020 2018-01-10 2019-01-04 Method and system for agriculture WO2019138212A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US16/960,902 US20200333782A1 (en) 2018-01-10 2019-01-04 Method and system for agriculture
JP2020538964A JP2021510305A (en) 2018-01-10 2019-01-04 Methods and systems for agriculture
KR1020207022577A KR20200103823A (en) 2018-01-10 2019-01-04 Methods and systems for agriculture
EP19700544.0A EP3737913A2 (en) 2018-01-10 2019-01-04 Method and system for agriculture
CA3125709A CA3125709A1 (en) 2018-01-10 2019-01-04 Method and system for agriculture

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB1800404.4 2018-01-10
GB1800404.4A GB2572127B (en) 2018-01-10 2018-01-10 Method and system for agriculture

Publications (2)

Publication Number Publication Date
WO2019138212A2 WO2019138212A2 (en) 2019-07-18
WO2019138212A3 true WO2019138212A3 (en) 2019-11-14

Family

ID=61190413

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2019/050020 WO2019138212A2 (en) 2018-01-10 2019-01-04 Method and system for agriculture

Country Status (8)

Country Link
US (1) US20200333782A1 (en)
EP (1) EP3737913A2 (en)
JP (1) JP2021510305A (en)
KR (1) KR20200103823A (en)
CA (1) CA3125709A1 (en)
GB (1) GB2572127B (en)
MA (1) MA51559A (en)
WO (1) WO2019138212A2 (en)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JOP20190145A1 (en) * 2017-06-14 2019-06-16 Grow Solutions Tech Llc Systems and methods for bypassing harvesting for a grow pod
WO2019187714A1 (en) * 2018-03-28 2019-10-03 本田技研工業株式会社 Fruit and vegetable harvesting device
JP7034866B2 (en) * 2018-08-20 2022-03-14 株式会社クボタ Harvester
CN109863874B (en) * 2019-01-30 2021-12-14 深圳大学 Fruit and vegetable picking method, picking device and storage medium based on machine vision
JP7152351B2 (en) * 2019-04-16 2022-10-12 本田技研工業株式会社 Harvesting method and fruit and vegetable harvesting device
JP7164495B2 (en) * 2019-08-01 2022-11-01 本田技研工業株式会社 Fruit and vegetable separation device and fruit and vegetable separation method
US11423458B2 (en) * 2019-09-12 2022-08-23 International Business Machines Corporation Computer application of internet of things (IOT) devices to select perishable items by time to expiration
JP7354763B2 (en) * 2019-10-24 2023-10-03 井関農機株式会社 plant cultivation equipment
WO2021141897A1 (en) * 2020-01-06 2021-07-15 Adaviv Crop scouting information systems and resource management
US20210259163A1 (en) * 2020-02-20 2021-08-26 Hippo Harvest Inc. Control space operating system
US12063889B2 (en) * 2020-02-28 2024-08-20 The United States Of America, As Represented By The Secretary Of Agriculture System and method for harvesting fruit
FR3110812B1 (en) * 2020-06-02 2023-01-06 Exel Ind AUTOMATED FRUIT SELECTION AND HARVEST PROCESS AND MECHANICAL EQUIPMENT IMPLEMENTING THE PROCESS
CN111832422A (en) * 2020-06-18 2020-10-27 五邑大学 Night image recognition method and device for intelligent agricultural equipment and storage medium
CA3198821A1 (en) * 2020-10-19 2022-04-28 Aigen Inc. Collaborative robot network with hybrid electro-mechanical plant management methods
KR102613439B1 (en) * 2021-08-25 2023-12-12 국민대학교산학협력단 Crop cultivation apparatus
EP4151073A1 (en) * 2021-09-15 2023-03-22 Kubota Corporation Method and system for harvesting fruit or vegetable
CN114234983B (en) * 2021-12-23 2023-09-12 仲继锋 Walking type farmland mobile platform robot navigation method
CN114485610B (en) * 2021-12-27 2023-07-18 广州极飞科技股份有限公司 Vector map construction method and device and path planning method and device
NL2031985B1 (en) * 2022-05-25 2023-12-11 Ig Specials B V Harvesting system and method
WO2024081823A1 (en) * 2022-10-13 2024-04-18 Indigo Ag, Inc. Outcome aware counterfactual scenarios for agronomy

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050126144A1 (en) * 2003-12-12 2005-06-16 Vision Robotics Corporation Robot mechanical picker system and method
US20120101634A1 (en) * 2010-10-25 2012-04-26 Lindores Robert J Crop treatment compatibility
JP2014183841A (en) * 2013-02-19 2014-10-02 Muroran Institute Of Technology Automatic plant harvester, automatic plant harvesting program and method

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01205995A (en) * 1988-02-08 1989-08-18 Nec Ic Microcomput Syst Ltd Countermeasure system to cope with abnormality of mobile robot
US7854108B2 (en) * 2003-12-12 2010-12-21 Vision Robotics Corporation Agricultural robot system and method
JP4979289B2 (en) * 2006-07-21 2012-07-18 日立オートモティブシステムズ株式会社 Image processing device
US20110301757A1 (en) * 2008-02-21 2011-12-08 Harvest Automation, Inc. Adaptable container handling robot with boundary sensing subsystem
WO2010063075A1 (en) * 2008-12-03 2010-06-10 Magnificent Pty Ltd Crop picking device and method
ITBZ20090028A1 (en) * 2009-06-12 2010-12-13 Kms Mechatronics Di Kofler Andreas SYSTEM AND EQUIPMENT FOR THE AUTOMATION OF THE COLLECTION IN ARBOREE CROPS
JP2011206014A (en) * 2010-03-30 2011-10-20 National Agriculture & Food Research Organization Fruit harvester
DE112011104550B4 (en) * 2010-12-23 2024-07-25 Cummins Intellectual Property, Inc. SYSTEM AND METHOD FOR VEHICLE SPEED-BASED OPERATING COST OPTIMIZATION
DE102011117860A1 (en) * 2011-11-08 2013-05-08 Claas Selbstfahrende Erntemaschinen Gmbh Method and system for harvesting and ensiling feed material
EP2620050B1 (en) * 2012-01-25 2016-07-27 Honda Research Institute Europe GmbH System, method and apparatus for unsupervised adaptation of the perception of an autonomous mower
CN102657037A (en) * 2012-04-13 2012-09-12 浙江工业大学 Pruning robot system for grape vines
CN102696353B (en) * 2012-06-05 2014-06-25 江苏大学 Greenhouse fruit and vegetable receiving and conveying robot
US20140267727A1 (en) * 2013-03-14 2014-09-18 Honda Motor Co., Ltd. Systems and methods for determining the field of view of a processed image based on vehicle information
CN103345246A (en) * 2013-05-29 2013-10-09 西北农林科技大学 Multi-robot system for real-time harvesting, transferring, drying and preserving of wheat
US10104824B2 (en) * 2013-10-14 2018-10-23 Kinze Manufacturing, Inc. Autonomous systems, methods, and apparatus for AG based operations
JP6207435B2 (en) * 2014-03-14 2017-10-04 三菱電機株式会社 Moving body mounted photography system
BE1022142B1 (en) * 2014-05-15 2016-02-19 Cnh Industrial Belgium Nv METHOD FOR HARVESTING M.B.V. UNMANNED WORK VEHICLES FOR AGRICULTURE.
EP3200449A4 (en) * 2014-09-24 2017-08-30 Panasonic Intellectual Property Management Co., Ltd. On-board electronic mirror
US10165722B2 (en) * 2014-12-05 2019-01-01 Deere & Company Scouting systems
US10029804B1 (en) * 2015-05-14 2018-07-24 Near Earth Autonomy, Inc. On-board, computerized landing zone evaluation system for aircraft
US20170000027A1 (en) * 2015-07-02 2017-01-05 Terence D. Hunt Robotic harvester
JP2017079699A (en) * 2015-10-30 2017-05-18 パナソニック株式会社 Harvest conveyance device
WO2017205410A1 (en) * 2016-05-24 2017-11-30 Cnh Industrial America Llc Grain cart for continuous conveying agricultural product
BR112018074090A8 (en) * 2016-05-24 2023-11-28 Cnh Ind America Llc Agricultural system comprising a conveyor
CN206156246U (en) * 2016-10-11 2017-05-10 山东农业大学 Warmhouse booth is with autonomic moving platform of no track
US10327399B2 (en) * 2016-11-29 2019-06-25 Invia Robotics, Inc. Harvesting robots for hydroponics
GB2559169B (en) * 2017-01-30 2021-02-17 Jaguar Land Rover Ltd Controlling movement of a vehicle
CN106941879B (en) * 2017-04-27 2018-05-18 居国斌 Picker
CN106950581A (en) * 2017-04-27 2017-07-14 无锡北斗星通信息科技有限公司 Alignment system
JP6779835B2 (en) * 2017-06-15 2020-11-04 株式会社日立製作所 Monitoring control system, monitoring control device and monitoring control method
DE102017004593A1 (en) * 2017-09-16 2019-03-21 Stephan Schmidt Grain harvest in two phases - The harvest takes place with several simplified, autonomously driving combine harvesters, a mobile, automatic grain cleaning plant and autonomously moving transport vehicles (ants). All machines are digitally networked and w
EP3476211B1 (en) * 2017-10-09 2020-11-18 Siemens Corporation Autonomous mobile robots for movable production systems
IT201700118921A1 (en) * 2017-10-20 2019-04-20 Travaglini S P A STRUCTURE FOR CULTIVATION AND HANDLING OF AGRICULTURAL PRODUCTS, PARTICULARLY FOR VERTICAL FARM
US11048927B2 (en) * 2017-10-24 2021-06-29 Waymo Llc Pedestrian behavior predictions for autonomous vehicles
CN207322127U (en) * 2017-10-30 2018-05-08 南京工程学院 A kind of polyhouse-based agriculture robot based on machine vision
CN109934952B (en) * 2017-12-18 2021-05-11 华创车电技术中心股份有限公司 Vehicle-mounted driving image data establishing system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050126144A1 (en) * 2003-12-12 2005-06-16 Vision Robotics Corporation Robot mechanical picker system and method
US20120101634A1 (en) * 2010-10-25 2012-04-26 Lindores Robert J Crop treatment compatibility
JP2014183841A (en) * 2013-02-19 2014-10-02 Muroran Institute Of Technology Automatic plant harvester, automatic plant harvesting program and method

Also Published As

Publication number Publication date
KR20200103823A (en) 2020-09-02
CA3125709A1 (en) 2019-07-18
EP3737913A2 (en) 2020-11-18
MA51559A (en) 2021-04-14
GB2572127B (en) 2022-09-14
GB2572127A (en) 2019-09-25
US20200333782A1 (en) 2020-10-22
WO2019138212A2 (en) 2019-07-18
JP2021510305A (en) 2021-04-22
GB201800404D0 (en) 2018-02-21

Similar Documents

Publication Publication Date Title
WO2019138212A3 (en) Method and system for agriculture
WO2019074650A3 (en) Image-based branch detection and mapping for navigation
WO2020076510A3 (en) Localized data mapping for indoor and outdoor applications
MX2021000907A (en) Generating agronomic yield maps from field health imagery.
SA520410931B1 (en) Real time position and orientation tracker
WO2018025115A3 (en) Method and system for calibrating components of an inertial measurement unit (imu) using scene-captured data
WO2018030422A3 (en) Diagnosis device, learning device, and diagnosis system
WO2018081807A3 (en) Systems and methods for navigating lane merges and lane splits
EP3855346A4 (en) Gps-based target tracking system, method and dome camera
WO2015114468A3 (en) Motion tracking with reduced on-body sensors set
EP3246664A3 (en) Information processing system and information display apparatus
EP3372975A3 (en) Leak detection for fluid distribution networks using hyperspectral imaging
SG10201806489TA (en) Systems and methods for tracking and displaying endoscope shape and distal end orientation
EP1965316A3 (en) Storage of multiple, related time-series data streams
WO2017030616A3 (en) Fast scanning radar systems and methods
CA3059064C (en) Visual tracking of peripheral devices
WO2005109879A3 (en) Free space pointing devices and method
BR112015020989A2 (en) target object identification device, target object identification method, and target object identification program
DE60330898D1 (en) METHOD AND SYSTEM FOR TRACKING AND BEHAVIORAL MONITORING OF MULTIPLE OBJECTS THROUGH SEVERAL VISIBILITIES
WO2016054243A3 (en) Tactical mobile surveillance system
WO2020039251A3 (en) A method and system for asset management
WO2007095280A3 (en) An irrigation remote sensing system
WO2021084320A3 (en) System and method for computer-aided surgical navigation implementing 3d scans
WO2017062652A9 (en) Distributed sensor calibration
IL276709B2 (en) Sensor unit

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19700544

Country of ref document: EP

Kind code of ref document: A2

ENP Entry into the national phase

Ref document number: 2020538964

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 20207022577

Country of ref document: KR

Kind code of ref document: A

ENP Entry into the national phase

Ref document number: 2019700544

Country of ref document: EP

Effective date: 20200810

ENP Entry into the national phase

Ref document number: 3125709

Country of ref document: CA